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<div class="title">sample_consensus_prerejective.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_SAMPLE_CONSENSUS_PREREJECTIVE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_svd.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_validation.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection_poly.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html">   77</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_prerejective.html">SampleConsensusPrerejective</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Registration&lt;PointSource, PointTarget&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::getClassName</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::tree_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::getFitnessScore</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">FeatureCloud</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> FeatureCloud::Ptr FeatureCloudPtr;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> FeatureCloud::ConstPtr FeatureCloudConstPtr;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusPrerejective&lt;PointSource, PointTarget, FeatureT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SampleConsensusPrerejective&lt;PointSource, PointTarget, FeatureT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;FeatureT&gt;::Ptr</a> FeatureKdTreePtr;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">pcl::registration::CorrespondenceRejectorPoly&lt;PointSource, PointTarget&gt;</a> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">CorrespondenceRejectorPoly</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceRejectorPoly::Ptr CorrespondenceRejectorPolyPtr;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceRejectorPoly::ConstPtr CorrespondenceRejectorPolyConstPtr;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      </div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a5b119e5521f55f6ba84c0dbf68972f6b">  118</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a5b119e5521f55f6ba84c0dbf68972f6b">SampleConsensusPrerejective</a> ()</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a5ecb0c01b2a854410de3752330560065">input_features_</a> ()</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ad6354c9e010cba95d8d1211d7cbf48b4">target_features_</a> ()</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">nr_samples_</a>(3)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">k_correspondences_</a> (2)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a6d58e898676139edcb2b768b9ea584b9">feature_tree_</a> (new pcl::<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN</a>&lt;FeatureT&gt;)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">correspondence_rejector_poly_</a> (new <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">CorrespondenceRejectorPoly</a>)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">inlier_fraction_</a> (0.0f)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;SampleConsensusPrerejective&quot;</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">correspondence_rejector_poly_</a>-&gt;setSimilarityThreshold (0.6f);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a> = 5000;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt;PointSource, PointTarget&gt;</a>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      };</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a9cc56df5bb0d7cbd665f7690ba4ec797">  134</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a9cc56df5bb0d7cbd665f7690ba4ec797">~SampleConsensusPrerejective</a> ()</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ad31d04ea6ea4d31e375a4869f5ae07eb">setSourceFeatures</a> (<span class="keyword">const</span> FeatureCloudConstPtr &amp;features);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> FeatureCloudConstPtr</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a5b8ff6b29bd646be5654f36dda29a6e5">  146</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a5b8ff6b29bd646be5654f36dda29a6e5">getSourceFeatures</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a5ecb0c01b2a854410de3752330560065">input_features_</a>);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a74362d03ceaff28e0c6ca7607558d40c">setTargetFeatures</a> (<span class="keyword">const</span> FeatureCloudConstPtr &amp;features);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> FeatureCloudConstPtr </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a949140af2fcc9a65384df9310c46d135">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a949140af2fcc9a65384df9310c46d135">getTargetFeatures</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ad6354c9e010cba95d8d1211d7cbf48b4">target_features_</a>);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#adc81f76fce5cb37015cacfd0cbf9f4df">  168</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#adc81f76fce5cb37015cacfd0cbf9f4df">setNumberOfSamples</a> (<span class="keywordtype">int</span> nr_samples)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">nr_samples_</a> = nr_samples;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#ae0c9299367507ef1bfea423f157f9f67">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ae0c9299367507ef1bfea423f157f9f67">getNumberOfSamples</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">nr_samples_</a>);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a4ea896f146781ffe2a0bfbcd36d07e91">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a4ea896f146781ffe2a0bfbcd36d07e91">setCorrespondenceRandomness</a> (<span class="keywordtype">int</span> k)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">k_correspondences_</a> = k;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a8631c2a951f4f78926bd8735fb05fb97">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a8631c2a951f4f78926bd8735fb05fb97">getCorrespondenceRandomness</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">k_correspondences_</a>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#ac844e6463e149320659222e33fbcefb5">  202</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ac844e6463e149320659222e33fbcefb5">setSimilarityThreshold</a> (<span class="keywordtype">float</span> similarity_threshold)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">correspondence_rejector_poly_</a>-&gt;setSimilarityThreshold (similarity_threshold);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a03a71b9e3208035a93213d4669084b95">  211</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a03a71b9e3208035a93213d4669084b95">getSimilarityThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">correspondence_rejector_poly_</a>-&gt;getSimilarityThreshold ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a7c5f5ff9f7490181d1b1cc2706ec1a8b">  220</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a7c5f5ff9f7490181d1b1cc2706ec1a8b">setInlierFraction</a> (<span class="keywordtype">float</span> inlier_fraction)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">inlier_fraction_</a> = inlier_fraction;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a4d04fcae03897912c10b764ad066f484">  229</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a4d04fcae03897912c10b764ad066f484">getInlierFraction</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">inlier_fraction_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;int&gt;&amp;</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a96ddad54b814d7f4badde2dea7c36775">  238</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a96ddad54b814d7f4badde2dea7c36775">getInliers</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a3e4c9ab19b355945fa1c46c34d91a634">inliers_</a>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#aef0e7f2606c7e150fbc4756a1259e197">  248</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#aef0e7f2606c7e150fbc4756a1259e197">getRandomIndex</a> (<span class="keywordtype">int</span> n)<span class="keyword"> const</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (n * (rand () / (RAND_MAX + 1.0))));</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      };</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a8c653838da7ca6ad0bf96d4793c49a72">selectSamples</a> (<span class="keyword">const</span> PointCloudSource &amp;cloud, <span class="keywordtype">int</span> nr_samples, std::vector&lt;int&gt; &amp;sample_indices);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ab755f410b030f3ec931c399101cd6faa">findSimilarFeatures</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;sample_indices,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;              std::vector&lt;std::vector&lt;int&gt; &gt;&amp; similar_features,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;              std::vector&lt;int&gt; &amp;corresponding_indices);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#aace0b544428bae34b62c2baedb36c490">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f&amp; guess);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af6e75a167a379ac646ea18dc584b6738">getFitness</a> (std::vector&lt;int&gt;&amp; inliers, <span class="keywordtype">float</span>&amp; fitness_score);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a5ecb0c01b2a854410de3752330560065">  293</a></span>&#160;      FeatureCloudConstPtr <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a5ecb0c01b2a854410de3752330560065">input_features_</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#ad6354c9e010cba95d8d1211d7cbf48b4">  296</a></span>&#160;      FeatureCloudConstPtr <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#ad6354c9e010cba95d8d1211d7cbf48b4">target_features_</a>;  </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">  299</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">nr_samples_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">  302</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">k_correspondences_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;     </div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a6d58e898676139edcb2b768b9ea584b9">  305</a></span>&#160;      FeatureKdTreePtr <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a6d58e898676139edcb2b768b9ea584b9">feature_tree_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      </div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">  308</a></span>&#160;      CorrespondenceRejectorPolyPtr <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">correspondence_rejector_poly_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">  311</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">inlier_fraction_</a>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_prerejective.html#a3e4c9ab19b355945fa1c46c34d91a634">  314</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_sample_consensus_prerejective.html#a3e4c9ab19b355945fa1c46c34d91a634">inliers_</a>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  };</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;}</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/sample_consensus_prerejective.hpp&gt;</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a99baaa7e513bda9103c58fd1471557ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">pcl::Registration::transformation_estimation_</a></div><div class="ttdeci">TransformationEstimationPtr transformation_estimation_</div><div class="ttdoc">A TransformationEstimation object, used to calculate the 4x4 rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration.h:547</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aa776d097d20137f2702a275d931989d2"><div class="ttname"><a href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">pcl::Registration::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum number of iterations the internal optimization should run for. The default value is 10.</div><div class="ttdef"><b>Definition:</b> registration.h:496</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html">pcl::SampleConsensusPrerejective</a></div><div class="ttdoc">Pose estimation and alignment class using a prerejective RANSAC routine.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a03a71b9e3208035a93213d4669084b95"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a03a71b9e3208035a93213d4669084b95">pcl::SampleConsensusPrerejective::getSimilarityThreshold</a></div><div class="ttdeci">float getSimilarityThreshold() const</div><div class="ttdoc">Get the similarity threshold between edge lengths of the underlying polygonal correspondence rejector...</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a186c97697adb9e45c44be801f6ba2758"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a186c97697adb9e45c44be801f6ba2758">pcl::SampleConsensusPrerejective::inlier_fraction_</a></div><div class="ttdeci">float inlier_fraction_</div><div class="ttdoc">The fraction [0,1] of inlier points required for accepting a transformation</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a3e4c9ab19b355945fa1c46c34d91a634"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a3e4c9ab19b355945fa1c46c34d91a634">pcl::SampleConsensusPrerejective::inliers_</a></div><div class="ttdeci">std::vector&lt; int &gt; inliers_</div><div class="ttdoc">Inlier points of final transformation as indices into source</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:314</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a4d04fcae03897912c10b764ad066f484"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a4d04fcae03897912c10b764ad066f484">pcl::SampleConsensusPrerejective::getInlierFraction</a></div><div class="ttdeci">float getInlierFraction() const</div><div class="ttdoc">Get the required inlier fraction</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a4ea896f146781ffe2a0bfbcd36d07e91"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a4ea896f146781ffe2a0bfbcd36d07e91">pcl::SampleConsensusPrerejective::setCorrespondenceRandomness</a></div><div class="ttdeci">void setCorrespondenceRandomness(int k)</div><div class="ttdoc">Set the number of neighbors to use when selecting a random feature correspondence....</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a5b119e5521f55f6ba84c0dbf68972f6b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a5b119e5521f55f6ba84c0dbf68972f6b">pcl::SampleConsensusPrerejective::SampleConsensusPrerejective</a></div><div class="ttdeci">SampleConsensusPrerejective()</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a5b8ff6b29bd646be5654f36dda29a6e5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a5b8ff6b29bd646be5654f36dda29a6e5">pcl::SampleConsensusPrerejective::getSourceFeatures</a></div><div class="ttdeci">const FeatureCloudConstPtr getSourceFeatures() const</div><div class="ttdoc">Get a pointer to the source point cloud's features</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a5ecb0c01b2a854410de3752330560065"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a5ecb0c01b2a854410de3752330560065">pcl::SampleConsensusPrerejective::input_features_</a></div><div class="ttdeci">FeatureCloudConstPtr input_features_</div><div class="ttdoc">The source point cloud's feature descriptors.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a6d58e898676139edcb2b768b9ea584b9"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a6d58e898676139edcb2b768b9ea584b9">pcl::SampleConsensusPrerejective::feature_tree_</a></div><div class="ttdeci">FeatureKdTreePtr feature_tree_</div><div class="ttdoc">The KdTree used to compare feature descriptors.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a74362d03ceaff28e0c6ca7607558d40c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a74362d03ceaff28e0c6ca7607558d40c">pcl::SampleConsensusPrerejective::setTargetFeatures</a></div><div class="ttdeci">void setTargetFeatures(const FeatureCloudConstPtr &amp;features)</div><div class="ttdoc">Provide a boost shared pointer to the target point cloud's feature descriptors</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a7c5f5ff9f7490181d1b1cc2706ec1a8b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a7c5f5ff9f7490181d1b1cc2706ec1a8b">pcl::SampleConsensusPrerejective::setInlierFraction</a></div><div class="ttdeci">void setInlierFraction(float inlier_fraction)</div><div class="ttdoc">Set the required inlier fraction (of the input)</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a84c0843f3447b3c9fb205ab2008111d2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a84c0843f3447b3c9fb205ab2008111d2">pcl::SampleConsensusPrerejective::correspondence_rejector_poly_</a></div><div class="ttdeci">CorrespondenceRejectorPolyPtr correspondence_rejector_poly_</div><div class="ttdoc">The polygonal correspondence rejector used for prerejection</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a8631c2a951f4f78926bd8735fb05fb97"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a8631c2a951f4f78926bd8735fb05fb97">pcl::SampleConsensusPrerejective::getCorrespondenceRandomness</a></div><div class="ttdeci">int getCorrespondenceRandomness() const</div><div class="ttdoc">Get the number of neighbors used when selecting a random feature correspondence, as set by the user</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a8c653838da7ca6ad0bf96d4793c49a72"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a8c653838da7ca6ad0bf96d4793c49a72">pcl::SampleConsensusPrerejective::selectSamples</a></div><div class="ttdeci">void selectSamples(const PointCloudSource &amp;cloud, int nr_samples, std::vector&lt; int &gt; &amp;sample_indices)</div><div class="ttdoc">Select nr_samples sample points from cloud while making sure that their pairwise distances are greate...</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a949140af2fcc9a65384df9310c46d135"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a949140af2fcc9a65384df9310c46d135">pcl::SampleConsensusPrerejective::getTargetFeatures</a></div><div class="ttdeci">const FeatureCloudConstPtr getTargetFeatures() const</div><div class="ttdoc">Get a pointer to the target point cloud's features</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a96ddad54b814d7f4badde2dea7c36775"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a96ddad54b814d7f4badde2dea7c36775">pcl::SampleConsensusPrerejective::getInliers</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; getInliers() const</div><div class="ttdoc">Get the inlier indices of the source point cloud under the final transformation</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_a9cc56df5bb0d7cbd665f7690ba4ec797"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#a9cc56df5bb0d7cbd665f7690ba4ec797">pcl::SampleConsensusPrerejective::~SampleConsensusPrerejective</a></div><div class="ttdeci">virtual ~SampleConsensusPrerejective()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_aace0b544428bae34b62c2baedb36c490"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#aace0b544428bae34b62c2baedb36c490">pcl::SampleConsensusPrerejective::computeTransformation</a></div><div class="ttdeci">void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Rigid transformation computation method.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:144</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_ab755f410b030f3ec931c399101cd6faa"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#ab755f410b030f3ec931c399101cd6faa">pcl::SampleConsensusPrerejective::findSimilarFeatures</a></div><div class="ttdeci">void findSimilarFeatures(const std::vector&lt; int &gt; &amp;sample_indices, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;similar_features, std::vector&lt; int &gt; &amp;corresponding_indices)</div><div class="ttdoc">For each of the sample points, find a list of points in the target cloud whose features are similar t...</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:115</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_ac844e6463e149320659222e33fbcefb5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#ac844e6463e149320659222e33fbcefb5">pcl::SampleConsensusPrerejective::setSimilarityThreshold</a></div><div class="ttdeci">void setSimilarityThreshold(float similarity_threshold)</div><div class="ttdoc">Set the similarity threshold in [0,1[ between edge lengths of the underlying polygonal correspondence...</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:202</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_ad31d04ea6ea4d31e375a4869f5ae07eb"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#ad31d04ea6ea4d31e375a4869f5ae07eb">pcl::SampleConsensusPrerejective::setSourceFeatures</a></div><div class="ttdeci">void setSourceFeatures(const FeatureCloudConstPtr &amp;features)</div><div class="ttdoc">Provide a boost shared pointer to the source point cloud's feature descriptors</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_ad6354c9e010cba95d8d1211d7cbf48b4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#ad6354c9e010cba95d8d1211d7cbf48b4">pcl::SampleConsensusPrerejective::target_features_</a></div><div class="ttdeci">FeatureCloudConstPtr target_features_</div><div class="ttdoc">The target point cloud's feature descriptors.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_adc81f76fce5cb37015cacfd0cbf9f4df"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#adc81f76fce5cb37015cacfd0cbf9f4df">pcl::SampleConsensusPrerejective::setNumberOfSamples</a></div><div class="ttdeci">void setNumberOfSamples(int nr_samples)</div><div class="ttdoc">Set the number of samples to use during each iteration</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_ae0c9299367507ef1bfea423f157f9f67"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#ae0c9299367507ef1bfea423f157f9f67">pcl::SampleConsensusPrerejective::getNumberOfSamples</a></div><div class="ttdeci">int getNumberOfSamples() const</div><div class="ttdoc">Get the number of samples to use during each iteration, as set by the user</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_aef0e7f2606c7e150fbc4756a1259e197"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#aef0e7f2606c7e150fbc4756a1259e197">pcl::SampleConsensusPrerejective::getRandomIndex</a></div><div class="ttdeci">int getRandomIndex(int n) const</div><div class="ttdoc">Choose a random index between 0 and n-1</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_af5c26576afe7762e02b227043b805a10"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#af5c26576afe7762e02b227043b805a10">pcl::SampleConsensusPrerejective::nr_samples_</a></div><div class="ttdeci">int nr_samples_</div><div class="ttdoc">The number of samples to use during each iteration.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_af6e75a167a379ac646ea18dc584b6738"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#af6e75a167a379ac646ea18dc584b6738">pcl::SampleConsensusPrerejective::getFitness</a></div><div class="ttdeci">void getFitness(std::vector&lt; int &gt; &amp;inliers, float &amp;fitness_score)</div><div class="ttdoc">Obtain the fitness of a transformation The following metrics are calculated, based on final_transform...</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.hpp:294</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_prerejective_html_af9b24107c43171fcba7c2c03c78dea7a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_prerejective.html#af9b24107c43171fcba7c2c03c78dea7a">pcl::SampleConsensusPrerejective::k_correspondences_</a></div><div class="ttdeci">int k_correspondences_</div><div class="ttdoc">The number of neighbors to use when selecting a random feature correspondence.</div><div class="ttdef"><b>Definition:</b> sample_consensus_prerejective.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">pcl::registration::CorrespondenceRejectorPoly</a></div><div class="ttdoc">CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and p...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_s_v_d_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_svd.h:59</div></div>
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